ネットワーク化視覚運動オブザーバに基づく3次元空間内での協調追尾制御

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  • Cooperative Pursuit Control Based on Networked Visual Motion Observer in Three Dimensions
  • ネットワークカ シカク ウンドウ オブザーバ ニ モトズク 3ジゲン クウカン ナイ デ ノ キョウチョウ ツイビ セイギョ

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<p>This paper proposes a vision-based target pursuit control based on cooperative estimation of target motion. A vision-based observer using visual sensor networks, so called Networked Visual Motion Observer, is presented in one of the authors' previous work to estimate three dimensional target motion, i.e., translational and rotational motion. We first introduce rigid body motion and camera model, and formulate the problem to be considered. Then, we propose a novel observer-based pursuit control law based on motion estimation. We next show that all rigid bodies with a visual sensor converge to each desired relative pose with respect to the target when the target is static. Furthermore, the pursuit performance for a moving target is evaluated based on L2 stability. Finally, we demonstrate the effectiveness of the proposed control law through simulations and experiments.</p>

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